Sorry for being ignorant, but what could be the point exactly in a 'midnight commander-like' CD burner? If you want to burn complete ISO images, does it matter that you need to give its name in the command line, and you can't select it from a menu?
But anyway, if you need such a tool, take a look at burncenter.
TCDR also looks good, but didn't run because of my 2.6.4 kernel, but give it a try...